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Hovermap has been engineered to operate autonomously when attached to a compatible robot or vehicle. It can take these platforms into unsafe places, or where it is simply impossible to go with other systems. In response to a failure during Autonomy-assisted missions, Hovermap has a range of operational smart failsafes to ensure safe and reliable operation.
Only one failsafe can be active at any given time. Therefore, failsafes are ordered in a prioritized list as indicated by the priority number in the table below. In case multiple failsafes are triggered, the one with the lowest priority number will be prioritized.
When a failsafe is triggered, it will be displayed as a notification in the Active Failsafe area beside the Notification button. Click that notification to see more detailed information about the failsafe. All other notifications (if any) are shown below the failsafe in order of severity.
When a failsafe is active, no other notifications will appear in the Main View. They can still be shown by clicking the Notification button.
Once the failsafe has been completed, it will be removed from the Active Failsafe area and notifications are displayed as per normal operation.
| Priority | Description | Operator Action | Pre-requisite | Abort-able |
| Robot Link Loss | ||||
| 1 |
The link between the robot and Hovermap has been lost. Hovermap will try to re-establish a connection with the robot and take control of the robot. |
Take manual control of the robot and land immediately. Do not take off if the robot is on the ground. |
N/A | This failsafe will self-abort when the connection to the robot has been re-established. |
| Control Authority Denied | ||||
| 2 |
The robot is not allowing Hovermap to take control. Hovermap will keep requesting control of the robot. |
Land the robot immediately. Do not take off if the robot is on the ground. |
N/A | The failsafe will self-abort when the robot allows Hovermap to take control. |
| Control Authority Loss | ||||
| 3 |
Hovermap has lost control and authority over the robot. Hovermap will attempt to re-acquire control of the robot. |
Take manual control of the robot and land immediately. Do not take off if the robot is on the ground. |
N/A | The failsafe will self-abort when Hovermap re-acquires control of the robot. |
| Robot Control Not Take-able | ||||
| 4 |
Hovermap indicates that it can’t take control of the Robot. Hovermap will monitor the state of the robot to check when it can take control. |
Land the robot immediately. Do not take off if the robot is on the ground. |
N/A | The failsafe will self-abort when Hovermap assesses that it is safe to do so. |
| Hardware Integrity | ||||
| 5 |
Hovermap has detected that the robot has sustained physical damage. |
If safe to do so, take manual control of the robot, land, and disarm the motors immediately. |
N/A | Not abort-able |
| Launch Error | ||||
| 6 |
Hovermap has aborted a take-off. |
Monitor the drone as it disarms or lands. Ensure that the shield settings are set appropriately, there are no objects in the vicinity of the robot, and attempt to re-launch. |
N/A | Not abort-able |
| State Estimation Critical | ||||
| 7 |
Hovermap has lost all of its navigation sources (SLAM and GPS). Hovermap will Land the robot. |
Take manual control of the robot and land immediately. Do not take off if the robot is on the ground. |
N/A | Not abort-able |
| Battery Critical | ||||
| 8 |
Hovermap has detected that the robot’s battery source has reached a critical level. Hovermap will land the robot. |
Monitor |
N/A | Not abort-able |
| Path Planner Stuck (Heavy Dust) | ||||
| 9 |
Hovermap has detected that it is not able to navigate through the environment. During this period, Hovermap is unable to register any new obstacles that have moved into its path. After Hovermap has retraced its path for 30 meters, it will initiate a Return to Home sequence. |
Monitor |
N/A |
The user can abort the failsafe at any time via the Commander app. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode twice (double toggle). |
| LiDAR Data Integrity | ||||
| 10 |
Hovermap has detected that its lidar points are starting to not be able to reach the objects around it due to atmospheric conditions. Hovermap will start to Return to Home immediately to remove itself from the atmospheric conditions. |
Monitor |
N/A |
The user can abort the failsafe at any time via the Commander app. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode twice (double toggle). Note: Once the Lidar Data Integrity failsafe has been aborted, it will not trigger again until the robot has landed and disarmed. If the environmental conditions are encountered again, that may lead to the Hovermap crashing. |
| State Estimation Degraded | ||||
| 11 |
Hovermap has lost its primary source of navigation. Hovermap will wait for up to 10 seconds to regain a navigation source (SLAM or GPS) If a navigation source is acquired, Hovermap will initiate a Return to Home. If after 10 seconds a navigation source is not acquired, the ‘State Estimation Critical’ failsafe will be triggered. |
Monitor Take control in Pilot-Assist mode and land as soon as possible. |
The user can abort the failsafe at any time via the Commander app. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode twice (double toggle). Note: Once the State Estimation Degraded failsafe has been aborted, it will not trigger again until the robot has landed and disarmed. |
|
| Battery Low | ||||
| 12 |
Hovermap has detected that the robot’s battery source has reached a low level. Hovermap will initiate a Return to Home sequence. |
Monitor |
N/A |
The user can abort the failsafe at any time via the Commander app. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode twice (double toggle). Note: Once the low battery failsafe has been aborted, it will not trigger again until the robot has landed and disarmed. |
| GCS Link Loss | ||||
| 13 |
Hovermap has detected that it has lost its connection to the Commander App and has reached its final waypoint with no further instruction. Hovermap will initiate a Return to Home sequence |
Monitor |
The GCS Link Loss failsafe will only trigger if the robot arrives at the last user-defined waypoint and the GCS link has been lost. |
The failsafe will self-abort when Hovermap regains connection to the GCS and arrives at either the Home point or the Rally point. The user can abort the failsafe at any time via the Commander app after the GCS link has been restored. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode. |
| RC Link Loss | ||||
| 14 |
Hovermap has detected that the robot no longer has a link to its remote control unit and is being operated in Teleoperate mode. Hovermap will initiate a Return to Home Sequence. |
Monitor |
The RC Link Loss failafe will only trigger if the robot is being operated in Pilot Assist mode and the RC link is lost. |
The failsafe will self-abort when Hovermap regains an RC connection and arrives at either the Home point or the Rally point. The user can abort the failsafe at any time via the Commander app. The user can abort the failsafe at any time by toggling the flight mode switch out and back into Hovermap mode. |
| Not ready to Arm | ||||
| 15 |
Hovermap has detected that it is not yet in a state for the robot to be armed. Hovermap will send a notification to the user. |
Do not attempt to take off. |
N/A | Not abort-able |
| Hovermap CPU Temperature High | ||||
| 16 |
Hovermap has detected that its CPU temperature is reaching a high limit. Hovermap will send a notification to the user. |
Take care when handling the Hovermap payload. The heat sync on the payload may be hot. |
Not abort-able | |